Tracking control for a class of switched nonlinear systems with full state constraints
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KünyeNiu, B., Dimirovski, G. M., & Jun, Z. (2012). Tracking control for a class of switched nonlinear systems with full state constraints. In W. Li (Ed.), 2012 31st Chinese Control Conference (CCC) (pp. 2049-2054). Piscataway, NJ: IEEE.
In this paper, we deal with the tracking control problem for a class of switched nonlinear systems in lower triangular form subject to full state constraints. In order to prevent states from transgressing the constraints, we employ a Barrier Lyapunov Function, which grows to infinity when its arguments approach domain boundaries. Based on the simultaneous domination assumption, we design a continuous controller for the switched system. By ensuring boundedness of the Barrier Lyapunov Function in the closed-loop, we guarantee that the limits are not violated. Furthermore, we show that asymptotic tracking is achieved without transgression of the constraints and all closed-loop signals remain bounded, when a mild requirement on the initial values is imposed. Finally, the effectiveness of the proposed results is demonstrated using a simulation example.